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<pre><span class="sourceLineNo">001</span>/*<a name="line.1"></a>
<span class="sourceLineNo">002</span> * To change this license header, choose License Headers in Project Properties.<a name="line.2"></a>
<span class="sourceLineNo">003</span> * To change this template file, choose Tools | Templates<a name="line.3"></a>
<span class="sourceLineNo">004</span> * and open the template in the editor.<a name="line.4"></a>
<span class="sourceLineNo">005</span> */<a name="line.5"></a>
<span class="sourceLineNo">006</span>package edu.wpi.first.wpilibj.templates.subsystems;<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.Counter;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.DigitalInput;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import edu.wpi.first.wpilibj.Talon;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import edu.wpi.first.wpilibj.command.Subsystem;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;<a name="line.12"></a>
<span class="sourceLineNo">013</span>import edu.wpi.first.wpilibj.templates.RobotMap;<a name="line.13"></a>
<span class="sourceLineNo">014</span><a name="line.14"></a>
<span class="sourceLineNo">015</span>/**<a name="line.15"></a>
<span class="sourceLineNo">016</span> *<a name="line.16"></a>
<span class="sourceLineNo">017</span> * @author lenovo<a name="line.17"></a>
<span class="sourceLineNo">018</span> */<a name="line.18"></a>
<span class="sourceLineNo">019</span>public class Lifter extends Subsystem {<a name="line.19"></a>
<span class="sourceLineNo">020</span>    // Put methods for controlling this subsystem<a name="line.20"></a>
<span class="sourceLineNo">021</span>    // here. Call these from Commands.<a name="line.21"></a>
<span class="sourceLineNo">022</span>    public DigitalInput top;<a name="line.22"></a>
<span class="sourceLineNo">023</span>    public DigitalInput bottom;<a name="line.23"></a>
<span class="sourceLineNo">024</span>    public DigitalInput collection;<a name="line.24"></a>
<span class="sourceLineNo">025</span>    public DigitalInput hanging;<a name="line.25"></a>
<span class="sourceLineNo">026</span>    <a name="line.26"></a>
<span class="sourceLineNo">027</span>    public DigitalInput cycleSensor;<a name="line.27"></a>
<span class="sourceLineNo">028</span>    public Counter cycleCounterPositive, cycleCounterNegative;<a name="line.28"></a>
<span class="sourceLineNo">029</span>    <a name="line.29"></a>
<span class="sourceLineNo">030</span>    public Talon lifterMover;<a name="line.30"></a>
<span class="sourceLineNo">031</span>    <a name="line.31"></a>
<span class="sourceLineNo">032</span>    public int cycles = 0;<a name="line.32"></a>
<span class="sourceLineNo">033</span>    private boolean doCount = true;<a name="line.33"></a>
<span class="sourceLineNo">034</span>    public Lifter()<a name="line.34"></a>
<span class="sourceLineNo">035</span>    {<a name="line.35"></a>
<span class="sourceLineNo">036</span>        top = RobotMap.topLifter;<a name="line.36"></a>
<span class="sourceLineNo">037</span>        bottom = RobotMap.bottomLifter;<a name="line.37"></a>
<span class="sourceLineNo">038</span>        collection = RobotMap.collection;<a name="line.38"></a>
<span class="sourceLineNo">039</span>        hanging = RobotMap.hanging;<a name="line.39"></a>
<span class="sourceLineNo">040</span>        <a name="line.40"></a>
<span class="sourceLineNo">041</span>        cycleSensor = RobotMap.cycleSensor;<a name="line.41"></a>
<span class="sourceLineNo">042</span>        cycleCounterPositive = RobotMap.cycleCounterPositive;<a name="line.42"></a>
<span class="sourceLineNo">043</span>        cycleCounterNegative = RobotMap.cycleCounterNegative;<a name="line.43"></a>
<span class="sourceLineNo">044</span>        <a name="line.44"></a>
<span class="sourceLineNo">045</span>        lifterMover = RobotMap.lifterMover;<a name="line.45"></a>
<span class="sourceLineNo">046</span>    }<a name="line.46"></a>
<span class="sourceLineNo">047</span>    <a name="line.47"></a>
<span class="sourceLineNo">048</span>    public boolean getTopMicro()<a name="line.48"></a>
<span class="sourceLineNo">049</span>    {<a name="line.49"></a>
<span class="sourceLineNo">050</span>        return top.get();<a name="line.50"></a>
<span class="sourceLineNo">051</span>    }<a name="line.51"></a>
<span class="sourceLineNo">052</span>    <a name="line.52"></a>
<span class="sourceLineNo">053</span>    public boolean getBottomMicro()<a name="line.53"></a>
<span class="sourceLineNo">054</span>    {<a name="line.54"></a>
<span class="sourceLineNo">055</span>        return bottom.get();<a name="line.55"></a>
<span class="sourceLineNo">056</span>    }<a name="line.56"></a>
<span class="sourceLineNo">057</span>    <a name="line.57"></a>
<span class="sourceLineNo">058</span>    public boolean getHangingMicro()<a name="line.58"></a>
<span class="sourceLineNo">059</span>    {<a name="line.59"></a>
<span class="sourceLineNo">060</span>        return hanging.get();<a name="line.60"></a>
<span class="sourceLineNo">061</span>    }<a name="line.61"></a>
<span class="sourceLineNo">062</span>    <a name="line.62"></a>
<span class="sourceLineNo">063</span>    public boolean getCollectionMicro()<a name="line.63"></a>
<span class="sourceLineNo">064</span>    {<a name="line.64"></a>
<span class="sourceLineNo">065</span>        return collection.get();<a name="line.65"></a>
<span class="sourceLineNo">066</span>    }<a name="line.66"></a>
<span class="sourceLineNo">067</span>    <a name="line.67"></a>
<span class="sourceLineNo">068</span>    public double getRailSpeed()<a name="line.68"></a>
<span class="sourceLineNo">069</span>    {<a name="line.69"></a>
<span class="sourceLineNo">070</span>        return lifterMover.get();<a name="line.70"></a>
<span class="sourceLineNo">071</span>    }<a name="line.71"></a>
<span class="sourceLineNo">072</span>    <a name="line.72"></a>
<span class="sourceLineNo">073</span>    public void resetNumOfCycles()<a name="line.73"></a>
<span class="sourceLineNo">074</span>    {<a name="line.74"></a>
<span class="sourceLineNo">075</span>        cycleCounterNegative.reset();<a name="line.75"></a>
<span class="sourceLineNo">076</span>        cycleCounterPositive.reset();<a name="line.76"></a>
<span class="sourceLineNo">077</span>    }<a name="line.77"></a>
<span class="sourceLineNo">078</span>    <a name="line.78"></a>
<span class="sourceLineNo">079</span>    public void startNumOfCycles()<a name="line.79"></a>
<span class="sourceLineNo">080</span>    {<a name="line.80"></a>
<span class="sourceLineNo">081</span>        doCount = true;<a name="line.81"></a>
<span class="sourceLineNo">082</span>    }<a name="line.82"></a>
<span class="sourceLineNo">083</span>    <a name="line.83"></a>
<span class="sourceLineNo">084</span>    public void stopNumOfCycles()<a name="line.84"></a>
<span class="sourceLineNo">085</span>    {<a name="line.85"></a>
<span class="sourceLineNo">086</span>        doCount = false;<a name="line.86"></a>
<span class="sourceLineNo">087</span>    }<a name="line.87"></a>
<span class="sourceLineNo">088</span>    <a name="line.88"></a>
<span class="sourceLineNo">089</span>    public void setRailSpeed(double railSpeed)<a name="line.89"></a>
<span class="sourceLineNo">090</span>    {<a name="line.90"></a>
<span class="sourceLineNo">091</span>        lifterMover.set(SmartDashboard.getNumber("lifter move speed: ")*railSpeed);<a name="line.91"></a>
<span class="sourceLineNo">092</span>    }<a name="line.92"></a>
<span class="sourceLineNo">093</span>    <a name="line.93"></a>
<span class="sourceLineNo">094</span>    public int countCycles()<a name="line.94"></a>
<span class="sourceLineNo">095</span>    {<a name="line.95"></a>
<span class="sourceLineNo">096</span>        if (doCount)<a name="line.96"></a>
<span class="sourceLineNo">097</span>        {<a name="line.97"></a>
<span class="sourceLineNo">098</span>            if (getRailSpeed() &gt; 0)<a name="line.98"></a>
<span class="sourceLineNo">099</span>            {<a name="line.99"></a>
<span class="sourceLineNo">100</span>                cycleCounterNegative.stop();<a name="line.100"></a>
<span class="sourceLineNo">101</span>                cycleCounterPositive.start();<a name="line.101"></a>
<span class="sourceLineNo">102</span>            }<a name="line.102"></a>
<span class="sourceLineNo">103</span>            else<a name="line.103"></a>
<span class="sourceLineNo">104</span>            {<a name="line.104"></a>
<span class="sourceLineNo">105</span>                cycleCounterPositive.stop();<a name="line.105"></a>
<span class="sourceLineNo">106</span>                cycleCounterNegative.start();<a name="line.106"></a>
<span class="sourceLineNo">107</span>            }<a name="line.107"></a>
<span class="sourceLineNo">108</span>            <a name="line.108"></a>
<span class="sourceLineNo">109</span>            cycles = cycleCounterPositive.get() - cycleCounterNegative.get();<a name="line.109"></a>
<span class="sourceLineNo">110</span>        }<a name="line.110"></a>
<span class="sourceLineNo">111</span>        <a name="line.111"></a>
<span class="sourceLineNo">112</span>        else<a name="line.112"></a>
<span class="sourceLineNo">113</span>        {<a name="line.113"></a>
<span class="sourceLineNo">114</span>            cycleCounterNegative.stop();<a name="line.114"></a>
<span class="sourceLineNo">115</span>            cycleCounterPositive.stop();<a name="line.115"></a>
<span class="sourceLineNo">116</span>        }<a name="line.116"></a>
<span class="sourceLineNo">117</span>        <a name="line.117"></a>
<span class="sourceLineNo">118</span>        return cycles;<a name="line.118"></a>
<span class="sourceLineNo">119</span>    }<a name="line.119"></a>
<span class="sourceLineNo">120</span>    <a name="line.120"></a>
<span class="sourceLineNo">121</span>    public void initDefaultCommand() {<a name="line.121"></a>
<span class="sourceLineNo">122</span>        // Set the default command for a subsystem here.<a name="line.122"></a>
<span class="sourceLineNo">123</span>        //setDefaultCommand(new MySpecialCommand());<a name="line.123"></a>
<span class="sourceLineNo">124</span>    }<a name="line.124"></a>
<span class="sourceLineNo">125</span>}<a name="line.125"></a>




























































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